Distributed Estimation, Control and Coordination of Quadcopter Swarm Robots
This work addresses coordination challenges for quadcopter swarms in constrained environments, but appears incremental as it applies existing distributed methods to a specific scenario.
The thesis tackled the problem of enabling a quadcopter swarm to fly through openings using distributed techniques, with some quadcopters designated as leaders equipped with global sensors and others using simulated bearing and distance sensors for localization.
In this thesis we are interested in applying distributed estimation, control and optimization techniques to enable a group of quadcopters to fly through openings. The quadcopters are assumed to be equipped with a simulated bearing and distance sensor for localization. Some quadcopters are designated as leaders who carry global position sensors. We assume quadcopters can communicate information with each other.